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airo 25(1):

Research Article

Robust Robotic Arm Calibration combining Multi-Distance Optimization Approach with Lagrange Starfish Optimization Algorithm

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  • @ARTICLE{10.4108/airo.9002,
        author={Yongtao Qu and Zhiqiang Li and Long Liao and Xun Deng and Yuanchang Lin and Tinghui Chen and Linlin Chen and Jia Liu and Peiyang Wei and Jianhong Gan and ZhenZhen  Hu and Can Hu and Yonghong Deng and Wei Li and Zhibin Li},
        title={Robust Robotic Arm Calibration combining Multi-Distance Optimization Approach with Lagrange Starfish Optimization Algorithm},
        journal={EAI Endorsed Transactions on AI and Robotics},
        volume={4},
        number={1},
        publisher={EAI},
        journal_a={AIRO},
        year={2025},
        month={6},
        keywords={Lagrangian Starfish Optimization Algorithm, LSFA, Support Vector Machine, SVM, Multi-dimensional distance metrics, Robotic arm calibration, Dynamic parameter estimation, Intelligent optimization algorithm},
        doi={10.4108/airo.9002}
    }
    
  • Yongtao Qu
    Zhiqiang Li
    Long Liao
    Xun Deng
    Yuanchang Lin
    Tinghui Chen
    Linlin Chen
    Jia Liu
    Peiyang Wei
    Jianhong Gan
    ZhenZhen Hu
    Can Hu
    Yonghong Deng
    Wei Li
    Zhibin Li
    Year: 2025
    Robust Robotic Arm Calibration combining Multi-Distance Optimization Approach with Lagrange Starfish Optimization Algorithm
    AIRO
    EAI
    DOI: 10.4108/airo.9002
Yongtao Qu1, Zhiqiang Li2,*, Long Liao2, Xun Deng3, Yuanchang Lin1, Tinghui Chen1, Linlin Chen4, Jia Liu4, Peiyang Wei4, Jianhong Gan4, ZhenZhen Hu4, Can Hu4, Yonghong Deng4, Wei Li3, Zhibin Li4
  • 1: Chinese Academy of Sciences
  • 2: Dongfang Electric Corporation (China)
  • 3: Sichuan Railway Vocational College
  • 4: Chengdu University of Information Technology
*Contact email: Etesop0712@outlook.com

Abstract

In response to the limitations of existing robotic parameter calibration methods in terms of computational complexity, convergence speed, data requirements, and accuracy, this study proposes an innovative calibration scheme that combines an improved Lagrangian Starfish Optimization Algorithm (LSFA) with a Support Vector Machine (SVM) algorithm. By incorporating Lagrange interpolation and a multi-dimensional distance metric model (including Mahalanobis distance, Manhattan distance, Chebyshev distance, cosine distance, standardized Euclidean distance, and Euclidean distance), the enhanced starfish optimization algorithm significantly improves global search capabilities and local search accuracy. This effectively addresses issues such as initial value sensitivity, noise, and outliers, with the algorithm specifically designed for kinematic parameter calibration of robotic arms. Furthermore, the improved local search mechanism optimizes the position update strategy of starfish through a weighted system, preventing the algorithm from becoming trapped in local optima. To further enhance the accuracy of dynamic parameter calibration, this study integrates the SVM algorithm into the LSFA framework, proposing the LSFA-SVM method specifically for dynamic parameter calibration of robotic arms. Experiments demonstrate a 38.59% reduction in error compared to traditional SVM. The results indicate that LSFA excels in kinematic calibration of robotic arms, achieving a root mean square error (RMSE) of 0.29 mm, a 29.27% improvement over the traditional Starfish Optimization Algorithm (SFOA). This study provides an efficient and precise solution for robotic parameter calibration in complex environments.

Keywords
Lagrangian Starfish Optimization Algorithm, LSFA, Support Vector Machine, SVM, Multi-dimensional distance metrics, Robotic arm calibration, Dynamic parameter estimation, Intelligent optimization algorithm
Received
2025-04-01
Accepted
2025-05-07
Published
2025-06-26
Publisher
EAI
http://dx.doi.org/10.4108/airo.9002

Copyright © 2025 Y. Qu et al., licensed to EAI. This is an open access article distributed under the terms of the CC BY-NC-SA 4.0, which permits copying, redistributing, remixing, transformation, and building upon the material in any medium so long as the original work is properly cited.

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